Method and apparatus for removing meat from poultry carcasses

ABSTRACT

There is disclosed a procedure for use in deboning poultry comprising locating the prepared poultry carcass with its wingbones ( 12 ) clamped on wingbone rests ( 13 ) defining edges which abut the wingbones at their wing joint ( 11   a ) ends whereby the wingbones are securely held in fixed positions with the carcass ( 11 ) depending therefrom, defining cutting axes between the wingbones and triosseum junctions and cutting on said axes to sever tendons and ligaments.

This invention relates to deboning poultry, that is to say, removingwhite meat from poultry carcasses.

The deboning of poultry, particularly chickens, is done, on a largescale, both manually, by more or less skilled workers, and mechanically.Examples of mechanical deboning systems are to be found in FR 2 593 675,EP 0 695 506 and EP 0 489 984.

A problem with mechanical deboning is that poultry come in differentweights and sizes, and a measure of control is needed to accommodatethis variability, particularly in regard to the step of cuttingligaments and tendons connecting muscle and bone. Various accommodationtechniques have been proposed, including weighing the carcass andimaging the carcass using information so derived to decide where to cut.

JP 6324006 (Snow Brand Milk Products Co. Ltd) proposes for generalautomatic butchering to use X-rays to determine the positions of muscle,tendon and skeleton.

In WO 97/21352 is proposed a method of removing meat from a poultrycarcass comprising determining the relative positions of the carcass andsevering means thus causing the severing means to sever tendons by whichthe meat is attached to the skeleton and further comprising locatingautomatically at least one datum point on the carcass and automaticallymoving the severing means and the carcass into engagement in a mannerdetermined by the position of the datum point.

One datum point particularly mentioned in that application is thetriosseum canal through which run several important tendons, the cuttingof which frees up a large part of the muscle to be stripped cleanly fromthe skeleton manually or by existing mechanical methods.

The datum point (or points) can be determined by X-ray imaging usingmachine vision techniques to identify image features. It is preferableto use a three-dimensional image for precise location of the triosseumcanal.

Techniques described in WO 97/21351 facilitate rapid location of thetriosseum canals for rapid orientation of the cutters and rapid andaccurate severing of the tendons, freeing up the meat for clean removal,without damage, as high quality, high value meat with a higher yieldthan other mechanical techniques and even better than conventionalmanual deboning.

The present invention, however, further improves upon the methodsgenerally described in WO 97/21351.

The invention comprises a procedure for use in deboning poultrycomprising locating the prepared poultry carcass with its wing bonesclamped on wing bone rests defining edges which abut the wing bones attheir wing joint ends whereby the wing bones are securely held in fixedpositions with the carcass depending therefrom, defining cutting axesbetween the wing bones and triosseum junctions, and cutting on said axesto sever tendons and ligaments.

The cutting axes may be defined automatically by reference to a machinevision image, which may be an X-ray image as described in WO 97/21351which can be a two-dimensional format or scanning image because of theway the carcass is located. As before, the cutting means may beautomatically actuated to cut along the axes defined, and rotary bladescould be used.

The wing bone rests may be arranged to hold the wing bones relativelyinclined so as to include an angle less than 180° on the side of thecarcass, an angle, perhaps, of 90°, though holding them parallel (aninclined angle of zero degrees) is entirely satisfactory.

The wing bone rests may be relatively adjustable to accommodatedifferent carcass sizes, and may be adjusted towards each other afterthe wings are placed thereon so as to be spaced as closely as theintervening wing joint region of the carcass will allow, the wings beingthen clamped and, subsequently, the wing bone rests pulled apart tostretch the joints. In this way the tendons and ligaments are availablefor imaging and cutting by incision between wing bones and triosseumjunctions with no fear of displacement under cutting forces.

However, the use of X-rays is problematical in a factory environment andadvantage can be taken of the method of locating the carcass to dispensewith the need for depth information in regard to certain internalfeatures to be severed or not severed as the case may be by noting that,for a given weight range of carcass, the three dimensional positions ofthese internal features can be calculated to lie within certain narrowlimits. For birds in a 2:1 weight range, distances between identifiablefeatures will vary over a range 2^(⅓):1 or approximately 1.25:1. Usingthe techniques of the present invention the three dimensional positionsof critical internal features can be determined from two dimensionalinformation obtainable from surface features or readily exposedsubcutaneous features without the use of X-rays.

Moreover, these procedures greatly facilitate manual deboning, so thatwhile adapted for automatic cutting using machine vision, considerableadvantages are gained by using them in manual deboning.

More particularly, the invention comprises a method for removing meatfrom poultry carcasses to which wings are attached by muscles, ligamentsand tendons at wing joints, comprising:

supporting the carcass to depend from its wing joints with the wingsclamped to wing bone rests either side of the carcass affording fulcrumsfor the wing bones;

placing the wing bone rests under separation force to tension theligaments and tendons at the wing joints;

cutting in a first cut selected muscles, ligaments and tendonspermitting the supports further to separate to open out the wing jointswhereby to reveal further muscles, ligaments and tendons;

locating such further muscles, ligaments and tendons and cutting in asecond cut selected ones thereof; and

completing the removal process by pulling the wings from the carcass andremoving freed muscle therefrom.

While rotary blades, as noted above, are suitable, it is now found thatgreater precision, resulting in less collateral damage to the carcassand consequently improved quality of product as well as improved yield,can be achieved if the first and second cuts are effected usingoscillating blade means. While the use of higher frequencies ispossible, it is found that frequencies between 1 and 150 Hz aresuitable, with an amplitude of oscillation in the range 1-10 mm. Theoscillation may be primarily an oscillation lengthwise of asubstantially straight blade edge. Such low frequency oscillationreduces or eliminates any occurrence of vibration induced white finger(VWF) as compared to higher frequencies. While regular knives could beused, it is now found that special blades can effect the cuts throughmuscle, tensioned tendon and ligament without cutting bone—the presenceof bone fragments in fillets is highly undesirable. Such blades arebetween 1 and 2 mm thick at the cutting edge, with edge faces includingan angle between 30° and 70°—not classically sharp.

The separation force may be arranged to be, at any stage of the cutting,sufficient to tension any muscle, tendon or ligament to be cut ahead ofany other and, such muscle, tendon and/or ligament having been cut, toseparate the wingbone rests to open up the wing joints revealing furtherligament, tendon and muscle facilitating further cutting. For poultry inthe weight range 1.2-2.4 Kg eviscerated weight, the separation force maybe between 3 and 4 Kg, typically 3.5 Kg.

Because of the need to tension successively the ligaments and tendonsprior to their being severed, it is advantageous to carry out twoseparate cutting operations (using plane blades)

a first cut to sever the L1 and T1 and the propatagium

a second cut to sever T2, L2 and the deltoidus major

Both of these cuts may be either manual or by automatic means.

Two other cutting operations, a cut adjacent to the wishbone to part itfrom the Pectoralis thoracicus and a cut to part the Scapulohumeralisfrom the scapula may either be carried out manually or, by using morecomplex blades, may be effected as part of the first and second cutsrespectively.

When the first cut is to be effected automatically, it is made at apredetermined distance from each of the respective fulcrums with blademeans aligned transversely to a line joining the fulcrums. For poultryin the aforementioned weight range, the predetermined distance should be7-9 mm say 8 mm.

For the aforementioned weight range, the first cut should be terminatedwhen the blade has descended to a height of 15 mm above the fulcrums.With the blade in this position, the ligament L1 will have beencompletely severed and a fissure of 5-10 mm will have opened in the wingjoint.

When the first cut is to be effected manually, the blade is positionedapproximately 5 mm ahead of the front edge and 5 mm in from the end ofthe propatagium.

The incision which results from the first cut greatly facilitates thepositioning of the blade which is to carry out the second operation.

Image analysis, including the use of an edge detection algorithm, on thefissure in the wing joint itself and the anatomical features revealedbelow—such as the ligament L2—may be used to determine the optimumposition for the second cut.

As for the first cut, the second cut is terminated when the bladereaches a predetermined height above the fulcrums—a height of 5 mm beingappropriate to guarantee that the required severing operations have beeneffected.

In any event, whether in a manual or an automatic operation, the carcassmay be moved on the wingbone rests on a conveyor to and from a cuttingstation. The conveyor may move the wingbone rests from a loading stationthrough a cutting station to an unloading station.

The wings and carcass may be manipulated at the unloading station toseparate muscle freed by the cutting operation from the carcass.Separation of meat from the carcass may be completed manually at theunloading station.

A carcass may be prepared for cutting, e.g. at a loading station, byremoving the skin around the triosseum junction, and blade cuts may beeffected down the scapula to separate the scapulohumeralis—using theapparatus this becomes a relatively easy cut to make manually andsimplifies later procedures since it does not need to be done during thesecond cut.

The invention also comprises a mounting for use in deboning poultrycomprising a support for a prepared carcass comprising wing bone restsadapted to receive outstretched wings of a carcass and clamp meansclamping the wings to the wing bone rests.

The wing bone rests may define edges against which the wing joints canabut which edges may have variable spacing to accommodate differentcarcass sizes. The wing bone rests may be adjustable towards and awayfrom each other for this purpose. The wing bone rests may comprisetables with upstanding walls on and against which the wings are locatedfor clamping. The upstanding walls of the right and left wing bone restsmay be coplanar, as may the right and left tables, but it may bepreferred to have the latter relatively inclined away from each other atan angle less than 180°.

A poultry deboning arrangement according to the invention may comprise aloading station at which poultry is loaded on to mounting apparatus asabove described, an imaging arrangement in which a machine vision imageof the loaded poultry is made, a control arrangement defining cuttinglines based on the machine vision image, a cutting station at whichtendons and ligaments are severed on the cutting lines, and an unloadingstation at which the thus severed carcasses are unloaded from themounting apparatus. The deboning arrangement may then include astripping arrangement stripping muscle from the cut carcasses.

However, the mounting apparatus may be useful per se in connection witha manual deboning procedure, the apparatus being a more secure andconvenient means of holding poultry in a correct cutting position tosever important tendons and ligaments in one or two cutting actions eachside of the bird quickly, efficiently and accurately for maximum meatyield.

In a mechanical arrangement, the carcass on the wing rests may beconveyed through an imaging station to a cutting station, and this maybe followed by an automatic stripping operation.

More particularly, apparatus for use in deboning poultry comprising asupport for a prepared carcass comprising wingbone rests adapted toreceive outstretched wings of a carcass and clamp means clamping thewings to the wingbone rests.

The left and right wingbone rests may comprise vertically orientedplates, L-shaped in plan section, standing back-to-back. At least one ofthe rests may be slidable on a base.

Said separation force means may comprise fluid pressure operatedpiston-in-cylinder arrangements.

The clamp means may be located on the wingbone rests—between 30 and 35mm below the fulcrum on the face of the “upright” of the L-sectionremote from the other L-section—this accommodates, all birds within the1.2-1.4 Kg weight range.

The apparatus may comprise, between the wingbone rests a “cone” on whichthe carcass is placed serving to locate it for positioning and clampingof the wings. The “cone” may be elevatable whereby to rotate the wingjoints after the severing operation to separate freed muscle fromcarcass. The “cone” may be mounted on a lever arrangement with a fluidpressure operated elevating arrangement.

The apparatus may be adapted for automatic cutting, comprising blademeans and blade guidance means.

The blade means may comprise oscillating blade means, which may comprisestraight cutting edges oscillating lengthwise and be adapted to cutmuscle, tendon and ligament under tension, but not bone. The blades maybe between 1 mm and 2 mm thick at the cutting edge which may have facesincluding an angle between 30° and 70°, being essentially blunt. A thinsharp ridge may however project about 1 mm from the apex of the faceswhich may assist cutting but which, if it encounters bone, will notpenetrate sufficiently to detach bone fragments that would mar thequality of the meat.

The blades may be reciprocated—at between 1 and 150 Hz (or higherfrequency, though that is seemingly unnecessary and lower frequenciesare more tolerable, being less likely to result in VWF).

Either a single blade or double out-of-phase reciprocating bladessimilar to the familiar domestic electric carving knife may be used. Theadvantages of the double acting arrangements are

resulting machine (acutator and blades) is dynamically balanced

the horizontal reaction forces on the blades which result from theinteraction with the carcass are out of phase and transmit a zero netforce back to the machine

The combination of these two factors enables a machine which producesoscillatory motion to be hand held without the fear of VWF.

While blade mean as described have been devised expressly for use in themethods and apparatus for deboning poultry forming the major subjectmatter hereof, they would have independent utility in connection withany other method for deboning poultry, provided muscle, tendon andligament were held under tension and, indeed, in the butchery of othercarcasses, not to mention other industrial cutting operations e.g. inleather and textiles manufacture. Furthermore, the “blunt” cutting edge,so effective on taut strands and webs, is inherently safe againstaccidental cutting of relaxed fingers. It is envisaged and reserved thatdisclosure within the context of this Application may or could give riseto independent protection for such cutting means.

In automatic cutting arrangements hereunder, however, the blades may becarried on adjustable holders for movement in three dimensions above theleft and right wingbone rests. The blade guidance means may positionblades for a first cut with respect to the positions adopted by theright and left wingbone rests when the carcass is supported inequilibrium. The blades may be aligned with a line bisecting the rightand left wing bone rests with their cutting edges 8 mm in toward thecarcass measured from the place on the support where the wing isclamped, and the blades are guided down to 15 mm above the fulcrum forthe first cut.

The blade guidance means may comprise a inactive vision system, whichmay image the wing joints after the first cut to determine guidanceinstructions for automatic control of the cutting means for a secondcut. The machine vision system may include a edge detection algorithmarrangement.

The wingbone rest may be on a movable base, the apparatus comprisingtransport means for the base between loading, cutting and unloadingstations, and there may be first and second cutting stations.

Methods and embodiments of apparatus for removing meat from poultrycarcasses will now be described with reference to the accompanyingdrawings, in which:

FIG. 1 is a dorsal view of superficial muscles at the wing joint of apoultry carcass;

FIG. 2 is a ventral view of the main features of the wing joint;

FIG. 3 is a schematic diagram showing bones, tendons, ligaments andcontrol muscles in the region of the wing joint;

FIG. 4 is an elevation of a support means with a carcass mounted thereonready for imaging and cutting;

FIG. 5 is a plan view of the support means of FIG. 4, again with carcassmounted;

FIG. 6 is an elevation showing cutting means effecting a cuttingoperation;

FIG. 7 is a plan view of the wing joint arranged as in FIG. 6;

FIG. 8 is a front elevation of a work station including a cuttingarrangement;

FIG. 9 is a side elevation of the work station of FIG. 8;

FIG. 10 is a plan view of the work station of FIG. 8;

FIG. 11 is a plan view showing features for a manual cutting operation;

FIG. 12 is a front elevation of an automatic cutting station;

FIG. 13 is a plan view of the cutting station of FIG. 12;

FIG. 14 is a machine vision image showing edge detection and incisionguidance;

FIG. 15 is a schematic of an automated deboning factory;

FIG. 16 is an end elevation of a typical cutting blade used in themethod of the invention and as seen in side elevation in FIG. 6;

FIG. 17 is an end elevation like FIG. 16 of double out of phasereciprocating blades; and

FIG. 18 is an end elevation like FIG. 16 of a modified blade.

The following anatomical information will be helpful in understandingthe detailed explanation of the methods and apparatus of the invention.

The main muscles (the naming of which in the following descriptionfollows the Latin definitions given in The Anatomy of Domestic Animals,Sissons and Grossmont, Vol. 2 W B Saunders & Co, 5th edition withadditional colloquial definitions in parentheses) which are harvestedfor consumption as white meat are those whose purpose is to power flight(see FIG. 2).

Pectoralis thoracicus (“Breast meat”)

Supracoracoideus, sometimes known as the Pectoralis profundus,(“Tender”).

In order to withstand the very large forces transmitted from these powermuscles to the humerus (“wingbone”), a pyramid of bones comes togetherat the triosseum junction

the scapula

the coracoid

the wishbone

In addition to the “power” muscles, three small muscles whose mainfunction is to control the synchronisation of the wing beat are alsoharvested for white meat

subcoracoscapularis (“eye meat”)

coracobrachialis

scapulohumeralis

These are shown in FIGS. 2 and 3 attached to the wingbone by tendons T3,T4 and T5. Although individually small, together they comprise some 8-9%of the white meat hearvested and make a crucial contribution to theoverall economics of chicken deboning.

Also shown on FIG. 3 are the two main ligaments L1 and L2 which keep thewingbone knuckle located in its socket, and a small canal at thetriosseum junction known as the triosseum canal, which acts as a pulleyfor tendons which pass through it.

A favoured method of deboning which is capable of achieving a high meatyield is to sever ligaments L1 and L2 and tendons T1 and T2 but to leaveintact tendons T3, T4 and T5. When the wingbone is pulled away from thecarcass, both the “power” and “control” muscles stay with the wingbonefrom which they are subsequently harvested.

The main difficulties with this operation are

L2, T3, T4 and T5 are out of sight, hidden below the wing joint;

L2, which must be severed, lies in close proximity (approximately 5 mmat the closest approach) to T3, T4 and T5, which are to be left intact.If these tendons are inadvertently severed, the attached muscle cannotbe harvested;

the required cuts are in close proximity to the bones on either side ofthe wing joint, with the undesirable possibility of sharp slivers ofbone in the product.

The reason for the superiority of the highly trained operative overconventional mechanical means is the ability to use hand eyeco-ordinatiuon to “sense” both the position of ligaments and tendons tobe cut and to “feel” the progress of the cutting operation. As thetendons/ligaments are severed, the operative is able to “sense” themovement apart of the wing joint and effect fine adjustments to thecutting stroke, thereby avoiding the cutting of adjacent tendons whichare to be left intact.

It is to be appreciated however that, to achieve high meat yields, theoperative must be able to repeat highly accurate repetitive tasks atspeed over long periods—a combination of requirements to which humanbeings are not in general well suited. In addition to the intrinsicdifficulty of the task, the operator must also be able to cope withexposure to low temperatures, a hygiene requirement which leads tooperator fatigue.

Conventional mechanical systems have low efficiences both because theydo not have the hand-eye-co-ordination of humans and also because theycannot effect the fine adjustments needed to handle bird to birdvariations.

WO 97/21352 teaches uses of a reference datum to adjust the position ofsevering means in order to cope with this variability. To be useful, areference datum must be close to the incision points on the ligamentsand tendons, so that the offsets of the cuts from the reference datumare at fixed distances and do not vary with bird size. The preferreddatum of the co-pending application is the triosseum canal, shown inFIGS. 2 and 3.

Because, to the accuracy which is acceptable for the purpose of cutting,the apparatus positions critical features of the wing joint inpredictable relationships to one another, it is only necessary to knowaccurately the position of one of the features (such as the triosseumcanal) to know the positions of all of the other features.

One of the disadvantages of using the triosseum canal is that itsposition may only be measured by methods such as X-ray, a means which isgenerally undesirable because of the additional precautionary measureswhich have to be taken.

It is now found possible to identify topographical features of thecarcass which may be viewed directly and which avoid the need for theuse X-ray.

One such feature is the propatagium—the small muscle that lies along thewing leading edge (see FIG. 1). The end of the propatagium is anchoredto the top of the triosseum junction and accurately positioned in themiddle of L1 and is a suitable reference point from which the positionsof all of the critical features may be calculated.

Whilst the end of the propatagium, which comes into view after the skinhas been removed from above the wing joints, is an ideal feature toguide manual operatives in the placement of cutters, it has drawbacks asa method for automatic systems. Here the required machine vision mayhave difficulty identifying the propatagium if it has been damaged or ispartially obscured by fat.

A more robust method for automatic systems is to carry out a preliminarycut to open up the wing joint and then to use the features revealed bythis incision into the wing joint to calculate a reference point forsubsequent cutting.

It is possible to make such a preliminary cut with only the need tocalculate the position of the wingbone support because these wingbonesupport place the wingbones in predictable positions.

It has already been mentioned that, from the point of view of properlytensioning the ligaments and tendons it is advantageous to carry out twoseparate cutting operations

a first cut to sever L1, T1 and the propatagium,

a second cut to sever T2, L2 and the deltoidus major.

It is advantageous to make this first cut the preliminary cut made toprepare the wing joint for imaging, the cutter to effect the second cutbeing positioned using information which results from that imaging.

An extremely important feature of the wingbone support is that theycause T2 and L2 to be located at known heights above the fulcrums(approximately 10 mm). As a result, the imaging problem has been reducedfrom the extremely difficult one of determining the feature positions inthree dimensions to a much easier one in two dimensions.

The incision created by the first cut provides several features whicheither singly or in combination may be used as reference datums for thesubsequent cuts.

One such feature is the ligament L2 which may be directly viewed at thebottom of the incision.

Another feature is the edge of the incision itself. Because of the depthof the incision it is possible to light the carcass in such a way as tocreate a deep shadow in the incision—the light rim around the incisionstanding out well and being easily seen using edge detection. Thepositions of the lower feature such as L2 and T3 may then be inferredfrom the shape of the detected edge.

The first operation to be performed on the carcass, whether for manualor automatic processing, is the removal of the skin around the wingjoints. This operation is preferably manual. Immediately after theremoval of this skin the operative may elect to carry out two furtheroperations which the fixture makes quick and undemanding

a cut along the scapula to separate the scapulohumeralis muscle

a cut or scrape along the wishbone to separate the pectoralis thoracicus(or breast meat).

Bearing that in mind, the invention as illustrated in the drawings ofFIGS. 4 and 5 comprises locating the prepared poultry carcass 11 withits wingbones 12 clamped on wingbone rests 13 defining edges 14 whichabut the wingbones 12 at their wing joint ends 12 a whereby thewingbones 12 are securely held in fixed positions with the carcass 11depending therefrom, defining cutting axes (see below) between thewingbones 12 and the triosseum junctions, and cutting on said axes tosever tendons and ligaments.

More particularly, the drawings illustrate a method for removing meatfrom poultry carcasses 11 to which wings are attached by muscles,ligaments and tendons at wing joints 11 a comprising:

supporting the carcass 11 to depend from its wing joints 11 a with thewings clamped to wingbone rests 13 either side of the carcass 11affording fulcrums—edges 14—for the wingbones;

placing the wingbone rests 13 under separation force to tension theligaments and tendons at the wing joints 11 a;

cutting in a first cut selected muscles, ligaments and tendonspermitting the wingbone rests 13 further to separate to open out thewing joints 11 a whereby to reveal further muscles, tendons andligaments;

locating such further muscles, ligaments and tendons and cutting in asecond cut selective ones thereof; and

completing the removal process by pulling the wings from the carcass andremaining freed muscle therefrom.

The first and second cuts are effected using oscillating blade means 17illustrated in FIGS. 16, 17 and 18. It is found that by oscillatingblades at 1-150 Hz, cuts of tensioned muscle, tendon and ligament can bemade precisely and safely, without cutting anything that should not becut. Amplitudes of oscillation of the blades 17 between 1 and 10 mm arefound effective, the oscillation being primarily lengthwise of asubstantially straight blade edge 17 a. If the blade edge 17 a is blunt,as by the blade 17 being, say, 1-2 mm thick and the edge faces 17 bincluding an angle between 30° and 70°, the blade reciprocated, willnevertheless cut muscle, tendon and ligament under tension, but notbone. As seen in FIG. 18, a blade 17 having basically a blunt cuttingedge 17 c can have a thin, shallow, sharp projection 17 c that willfacilitate cutting, but, while it may penetrate bone to a small extent,will not split off bone fragments that would detract from the quality ofthe harvested meat. Blades can be oscillated using an electricalmechanism like the familiar electric carving knife or by pneumaticmeans.

In FIGS. 8, 9 and 10 separation force is effected by pneumaticpiston-in-cylinder arrangements 18 acting on the wingbone rests 13through mono filament ties 19. The wingbone rests 13 are carried onbushes 21 slidable on bearer bars 22. The pneumatics are arranged sothat the separation force is about 3.5 Kg, which is satisfactory for arange of poultry of eviscerated weight between 1.2 and 2.4 Kg. Thisseparation force tensions certain muscles, tendons and ligaments at thewing joints and locates the carcass in a position which is definitivefor those members to be severed so that first cuts can be made at apredetermined distance—8 mm is suitable, as seen in FIG. 7—from thefulcrums 14, the blades 17 being aligned transversely to a line joiningthe fulcrums 14.

For a manual cutting operation, the first cuts can be made—after thecarcass has been prepared by the removal of skin above the triosseumjunctions—5 mm ahead of the front edge and 5 mm in from the end of thepropatagium. When ligaments L1 have been completely severed, which, forbirds in the aforementioned weight range, will be when the blade hasbeen brought down to 15 mm above the height of the fulcrum 14, thetension will open up a fissure between 5 and 10 mm, as seen at X in FIG.14, which facilitate placement of the blade for the second cut.

By making cuts to this specification, which can be done easily by handafter very little training, or using machine vision simply to locate thepositions of the wingbone rests, ligaments L1 can be severed completely,while leaving intact other tendons and ligaments, opening up the wingjoints to facilitate a second cut to sever ligament L2 and the deltoidusmajor while leaving still intact tendons T3, T4 and T5. If thescapulohumeralis is not already manually parted from the scapula in apreparatory step, this can also be done at the second cut.

The use of a machine vision imaging to determine the insertion pointsfor the second cuts is illustrated in FIG. 14. Here the edges 141 of thefissures in the wing joints created by the first cuts are clearlydiscernible using an edge detection algorithm on an image of thecarcass. Placement of the cutters 17 approximately one third of thedistance into the fissure guarantees that L2 will be severed whilst T3,T4 and T5 are left intact. Angling of the blade some 45° to the firstcut ensures that the maximum amount of the deltoidus major muscle 142 isharvested.

In the apparatus illustrated in FIGS. 8, 9 and 10, the wing joint rests13 are arranged either side of a “cone” 31, which is like theconventional cone support used in manual deboning but serves here merelyas an aid to locating the wingbones 12 against the rests 13. As seenbest in FIGS. 5 and 7, the wingbones 12 are located at the intersectionof uprights 13 a and 13 b and clamped there by clamps 122.

An important detail, for the accommodation of larger birds in the rangeunder discussion is a relief 23—see detail in FIG. 4 and FIG. 8—alongthe top edge of the “bases” 13B of the L-section wing joint rests 13.For larger birds it is found that the Pectoralis thoracicus comes intocontact with the tope of “base” 13B, thereby affecting the height atwhich the critical tendons and ligaments sit with respect to thefulcrums. This unwanted interaction is avoided by the use of the recess.

The “cone” 31 does actually have a further function, being mounted on alever arm 24 with a piston-in-cylinder arrangement 25 which pivots it onan axis 26 after the cuts have been effected to separate the meat fromthe carcass that has been freed up by the cuts.

FIGS. 12 and 13 illustrate additions to the basic support arrangementfor effecting cuts automatically using machine vision. Cameras 31 imagethe wing joint areas from above while blades 17 are carried on actuators32 effecting their oscillation, the actuators 32 being on a gantryarrangement 33 for movement, under instruction from a controlarrangement, not illustrated, for movement on three axes to position theblades for and effect the required cuts.

The gantry arrangement 33 is located at a cutting station, the supportarrangements of FIGS. 8, 9 and 10 on platens 20 being movable througheach of two similar cutting stations I and II as seen in FIG. 15 on aconveyor system 41 which includes a loading station 42 and an unloadingstation 43. At the loading station 42, unloaded platens 20 are moved toa loading table 44 for loading of the eviscerated carcass and making thepreparatory scrapes and cuts as appropriate, then put back on theconveyor system. If cutting station I is free, a loaded platen isdiverted to it, otherwise it circulates. Platens that have passedthrough both cutting stations rejoin the conveyor system to be divertedat the unloading station to an unloading table 45 at which the wing pullis effected to separate the freed meat from the carcass and the wingsunclamped and removed with the remains of the carcass for the now emptyplaten to return to circulation.

What is claimed is:
 1. A procedure for use in deboning poultrycomprising locating the prepared poultry carcass with its wingbonesclamped on wingbone rests defining edges which abut the wingbones attheir wing joint ends whereby the wingbones are securely held in fixedpositions with the carcass depending therefrom, defining cutting axesbetween the wingbones and triosseum junctions, and cutting on said axesto sever tendons and ligaments.
 2. A method for removing meat frompoultry carcasses to which wings are attached by muscles, ligaments andtendons at wing joints, comprising: supporting the carcass to dependfrom its wing joints with the wings clamped to wing bone rests on eitherside of the carcass affording fulcrums for the wing bones: placing thewingbone rests under separation force to tension the ligaments andtendons at the wing joints; cutting in a first cut selected muscles,ligaments and tendons permitting the wingbone rests further to separateto open out the wing joints whereby to reveal further muscles, ligamentsand tendons; locating such further muscles, ligaments and tendons andcutting in a second cut selected ones thereof; and completing theremoval process by pulling the wings from the carcass and removing freedmuscle therefrom.
 3. A method according to claim 2, in which said firstand second cuts are effected using oscillating blade means.
 4. A methodaccording to claim 3, in which the frequency of oscillation of the blademeans is 1-150 Hz.
 5. A method according to claim 3, in which theamplitude of oscillation of the blade means is 1-10 mm.
 6. A methodaccording to claim 3, in which the oscillation is primarily anoscillation lengthwise of a substantially straight blade edge.
 7. Amethod according to claim 2, in which said first and second cuts areeffected with blade means adapted to cut muscle tendon and ligamentunder tension but not bone.
 8. A method according to claim 7, in whichsaid blade means are between 1 and 2 mm thick at the cutting edge andhave an angle of 30°-70° between faces at the cutting edge.
 9. A methodaccording to claim 2, in which the separation force is at any stage ofthe cutting sufficient to tension any muscle, tendon or ligament to becut ahead of any other and such muscle, tendon and/or ligament havingbeen cut, to separate the supports to open up the wing joints revealingfurther ligament, tendon and muscle facilitating further cutting.
 10. Amethod according to claim 9, adapted for poultry in the weight range1.2-2.4 Kg eviscerated weight, in which the separation force is 3-4 Kg.11. A method according to claim 2, in which the first cuts are made at apredetermined distance from each of the respective fulcrums with blademeans aligned transversely to a line joining the fulcrums.
 12. A methodaccording to claim 11, adapted for poultry in the weight range 1.2-2.4Kg eviscerated weight, in which the predetermined distance is 7-9 mm.13. A method according to claim 2, adapted for poultry in the weightrange 1.2-2.4 Kg eviscerated weight, in which the first cuts are made 5mm ahead of the front edge and 5 mm in from the end of the propatagium.14. A method according to claim 13, in which the first cuts arecontinued until a fissure between 5 and 10 mm has opened when ligamentsL1 have been completely severed.
 15. A method according to claim 14, inwhich the first cuts are made to a predetermined height above thefulcrum calculated to ensure complete severing for all birds in the saidweight range.
 16. A method according to claim 14, in which the secondcuts are effected with blade means inclined with respect to the blademeans effecting the first cuts.
 17. A method according to claim 16, inwhich the second cuts sever ligaments L2 and the deltoidus major andpart the scapulohumeralis from the scapula.
 18. A method according toclaim 2, in which the first and second cuts are effected manually.
 19. Amethod according to claim 1, in which the first and second cuts areeffected automatically.
 20. A method according to claim 19, in which thesecond cuts, the further muscles, ligaments and tendons are located bymachine vision after the first cuts have opened up the wing joints toreveal ligaments L2.
 21. A method according to claim 20, in which imageanalysis is used to position the second cuts.
 22. A method according toclaim 21, in which an edge detection algorithm is used.
 23. A methodaccording to claim 19, in which the first and second cuts are effectedseparately.
 24. A method according to claim 23, in which the first cutsare effected at a first cutting station at which the positions of thewingbone rests are determined to position the first cuts.
 25. A methodaccording to claim 24, in which the carcass is moved to a second cuttingstation for the second cuts.
 26. A method according to claim 19, inwhich the carcass is moved on the supports on a conveyor to and from acutting station.
 27. A method according to claim 26, in which theconveyor moves the wingbone rests from a loading, station through acutting station to an unloading station.
 28. A method according to claim27, in which the wings and carcass are manipulated at the unloadingstation to separate muscle freed by the cutting operation from, thecarcass.
 29. A method according to claim 28, in which separation of meatfrom the carcass is completed manually at the unloading station.
 30. Amethod according to claim 2, in which a carcass is prepared for cuttingby removing the skin around the triosseum junction.
 31. A methodaccording to claim 2, in which blade cuts are effected down the scapulato separate the scapulohumeralis.
 32. Apparatus for use in recoveringmeat from poultry carcasses to which wings are attached by muscles,ligaments and tendons at wing joints, comprising: left and rightwingbone rests affording fulcrums for the wingbones, the wingbone restsbeing relatively adjustable towards and away from each other whereby acarcass within a given weight range can be supported between thewingbone rests depending from the wing joints; clamp means clamping thewings to the wingbone rests: separation force means acting to tensionthe wing joints to hold the wingbone rests and supported carcass inequilibrium, facilitating severing of selected muscles, ligaments andtendons permitting the wingbone rests to move apart whereby to open upthe wing joints to expose further muscles, ligaments and tendons forselective severing.
 33. Apparatus according to claims 32, in which theleft and right wingbone rests comprise vertically oriented plates,L-shaped in plan section, standing back-to-back.
 34. Apparatus accordingto claim 32, in which at least one of the supports is slidable on abase.
 35. Apparatus according to claim 32, in which said separationforce means comprise fluid pressured operated piston-in-cylinderarrangements.
 36. Apparatus according to claim 32, in which the clampmeans are located on the wingbone rests between 30 and 35 mm below thefulcrum on the face of the “upright” of the L-section remote from theother L-section.
 37. Apparatus according to any one of claims 32 to 36,comprising between the wingbone rests, a “cone” on which the carcass isplaced serving to locate it for positioning and clamping of the wings.38. Apparatus according to claim 37, in which the cone is elevatablewhereby to rotate the wing joints after the severing operation toseparate freed muscle from carcass.
 39. Apparatus according to claim 38,the cone being mounted on a lever arrangement with a fluid pressureoperated elevating arrangement.
 40. Apparatus according to claim 32,adapted for automatic cutting, comprising blade means and blade guidancemeans.
 41. Apparatus according to claim 40, in which the blade meanscomprise oscillating blade means.
 42. Apparatus according to claim 41,in which the blade means comprise straight cutting edges oscillatinglengthwise.
 43. Apparatus according to claim 42, in which the bladeedges are adapted to cut muscle, tendon and ligament under tension, butnot bone, being between 1 and 2 mm thick at the cutting edge which hasfaces including an angle between 30° and 70°.
 44. Apparatus according toclaim 43, in which the blade edge has a thin sharp ridge projecting 1 mmfrom the apex of the faces.
 45. Apparatus according to claim 41, inwhich the blades are double, reciprocating out of phase.
 46. Apparatusaccording to claim 40, comprising blades carried on adjustable holdersfor movement in three dimensions above the left and right supports. 47.Apparatus according to claim 46, in which the blade guidance meansposition blades for a first cut with respect to the positions adopted bythe right and left wingbone rests when the carcass is supported inequilibrium.
 48. Apparatus according to claim 47, in which the bladesare aligned with a line bisecting the left and right wingbone rests withtheir cutting edges 8 mm in toward the carcass measured from the placeon the wingbone rest where the wing is clamped.
 49. Apparatus accordingto claim 47, in which the blades are guided down to 15 mm above thefulcrum for the first cut.
 50. Apparatus according to claim 40, in whichthe blade guidance means comprise a machine vision system.
 51. Apparatusaccording to claim 50, in which the machine vision system images thewing joints after a first cut to determine guidance instructions forautomatic control of the cutting means for a second cut.
 52. Apparatusaccording to claim 51, in which the machine vision system includes anedge detection algorithm arrangement.
 53. Apparatus according to claim41, in which the blade means comprise composite blade means forextending the objectives of the first and second cuts to includeseparation of the Pectoralis thoracicus from the wishbone and theScapulohumeralis from the scapula respectively.
 54. Apparatus accordingto claim 53, in which the composite blade comprises a first edge for thefirst cut and a second edge for the second cut inclined with respect tothe first edge.
 55. Apparatus according to claim 51, in which the firstand second cuts are effected by separate first and second blades. 56.Apparatus according to claim 32, in which the wingbone rests are on amovable base and comprising, transport means for moving the base betweenloading, cutting and unloading stations.
 57. Apparatus according toclaim 56, in which the base moves from a first cutting station to asecond cutting station.